#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.;
#

{%- if solver_options.qp_solver %}
	{%- set qp_solver = solver_options.qp_solver %}
{%- else %}
	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
{%- endif %}

{%- if solver_options.hessian_approx %}
	{%- set hessian_approx = solver_options.hessian_approx %}
{%- elif solver_options.sens_hess %}
	{%- set hessian_approx = "EXACT" %}
{%- else %}
	{%- set hessian_approx = "GAUSS_NEWTON" %}
{%- endif %}

{%- if constraints.constr_type %}
	{%- set constr_type = constraints.constr_type %}
{%- else %}
	{%- set constr_type = "NONE" %}
{%- endif %}

{%- if constraints.constr_type_e %}
	{%- set constr_type_e = constraints.constr_type_e %}
{%- else %}
	{%- set constr_type_e = "NONE" %}
{%- endif %}

{%- if cost.cost_type %}
	{%- set cost_type = cost.cost_type %}
{%- else %}
	{%- set cost_type = "NONE" %}
{%- endif %}

{%- if cost.cost_type_e %}
	{%- set cost_type_e = cost.cost_type_e %}
{%- else %}
	{%- set cost_type_e = "NONE" %}
{%- endif %}

{%- if cost.cost_type_0 %}
	{%- set cost_type_0 = cost.cost_type_0 %}
{%- else %}
	{%- set cost_type_0 = "NONE" %}
{%- endif %}

{%- if dims.nh %}
	{%- set dims_nh = dims.nh %}
{%- else %}
	{%- set dims_nh = 0 %}
{%- endif %}

{%- if dims.nphi %}
	{%- set dims_nphi = dims.nphi %}
{%- else %}
	{%- set dims_nphi = 0 %}
{%- endif %}

{%- if dims.nh_e %}
	{%- set dims_nh_e = dims.nh_e %}
{%- else %}
	{%- set dims_nh_e = 0 %}
{%- endif %}

{%- if dims.nphi_e %}
	{%- set dims_nphi_e = dims.nphi_e %}
{%- else %}
	{%- set dims_nphi_e = 0 %}
{%- endif %}
{%- if solver_options.model_external_shared_lib_dir %}
	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
{%- endif %}
{%- if solver_options.model_external_shared_lib_name %}
	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
{%- endif %}

{# control operator #}
{%- if os and os == "pc" %}
	{%- set control = "&" %}
{%- else %}
	{%- set control = ";" %}
{%- endif %}

{# acados linking libraries and flags #}
{%- if acados_link_libs and os and os == "pc" %}
	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
	{%- set openmp_flag = acados_link_libs.openmp %}
{%- else %}
	{%- set openmp_flag = " " %}
	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
		{%- set link_libs = "-lqpOASES_e" %}
	{%- else %}
		{%- set link_libs = "" %}
	{%- endif %}
{%- endif %}

{# acados flags #}
ACADOS_FLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
ACADOS_FLAGS += -DACADOS_WITH_QPOASES
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
ACADOS_FLAGS += -DACADOS_WITH_OSQP
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
ACADOS_FLAGS += -DACADOS_WITH_QPDUNES
{%- endif %}
# # Debugging
# ACADOS_FLAGS += -g3

MODEL_OBJ=
{%- if  solver_options.integrator_type == "ERK" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.o
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.o
{%- elif solver_options.integrator_type == "DISCRETE" %}
{%- if model.dyn_ext_fun_type == "casadi" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.o
{%- endif %}
{%- else %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
{%- endif %}
{%- endif %}


OCP_OBJ=
{%- if constr_type == "BGP" and dims_nphi > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.o
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.o
{%- endif %}

{%- if constr_type == "BGH" and dims_nh > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.o
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.o
{%- if hessian_approx == "EXACT" %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.o
{%- endif %}
{%- endif %}

{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.o
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.o
{%- if hessian_approx == "EXACT" %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.o
{%- endif %}
{%- endif %}

{%- if cost_type_0 == "NONLINEAR_LS" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
{%- elif cost_type_0 == "EXTERNAL" %}
{% if cost.cost_ext_fun_type_0 == "casadi" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
{% else %}
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
{% endif %}
{%- endif %}
{%- if cost_type == "NONLINEAR_LS" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
{%- elif cost_type == "EXTERNAL" %}
{% if cost.cost_ext_fun_type == "casadi" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
{% elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
{% endif %}
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
{%- elif cost_type_e == "EXTERNAL" %}
{% if cost.cost_ext_fun_type_e == "casadi" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
{% elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
{% endif %}
{%- endif %}
OCP_OBJ+= acados_solver_{{ model.name }}.o


SIM_OBJ=
SIM_OBJ+= acados_sim_solver_{{ model.name }}.o

EX_OBJ=
EX_OBJ+= main_{{ model.name }}.o

EX_SIM_OBJ=
EX_SIM_OBJ+= main_sim_{{ model.name }}.o

OBJ=
OBJ+= $(MODEL_OBJ)
{%- if solver_options.integrator_type != "DISCRETE" %}
OBJ+= $(SIM_OBJ)
{%- endif %}
OBJ+= $(OCP_OBJ)

EXTERNAL_DIR=
EXTERNAL_LIB=

{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
{%- endif %}

INCLUDE_PATH = {{ acados_include_path }}
LIB_PATH = {{ acados_lib_path }}

{%- if solver_options.integrator_type == "DISCRETE" %}
all: clean casadi_fun example
shared_lib: ocp_shared_lib
{%- else %}
all: clean casadi_fun example_sim example
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
{%- endif %}

CASADI_MODEL_SOURCE= 
{%- if solver_options.integrator_type == "ERK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c 
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c 
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_jac_y_uhat.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_get_matrices_fun.c
{%- elif solver_options.integrator_type == "DISCRETE" and model.dyn_ext_fun_type == "casadi" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac_hess.c
{%- endif %}
{%- endif %}
{%- if constr_type == "BGP" and dims_nphi > 0 %}
CASADI_CON_PHI_SOURCE=
CASADI_CON_PHI_SOURCE+= {{ model.name }}_phi_constraint.c
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
CASADI_CON_PHI_E_SOURCE=
CASADI_CON_PHI_E_SOURCE+= {{ model.name }}_phi_e_constraint.c
{%- endif %}
{%- if constr_type == "BGH" and dims_nh > 0 %}
CASADI_CON_H_SOURCE=
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt.c
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun.c
{%- if hessian_approx == "EXACT" %}
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
{%- endif %}
{%- endif %}

{%- if dims_nh_e > 0 %}
CASADI_CON_H_E_SOURCE=
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun.c
{%- if hessian_approx == "EXACT" %}
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
{%- endif %}
{%- endif %}

{%- if cost_type == "NONLINEAR_LS" %}
CASADI_COST_Y_SOURCE=
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun.c
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun_jac_ut_xt.c
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_hess.c
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
CASADI_COST_Y_E_SOURCE=
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun.c
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun_jac_ut_xt.c
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_hess.c
{%- endif %}
{%- if cost_type_0 == "NONLINEAR_LS" %}
CASADI_COST_Y_0_SOURCE=
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun.c
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun_jac_ut_xt.c
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_hess.c
{%- endif %}

casadi_fun:
	{%- if model.dyn_ext_fun_type == "casadi" %}
	( cd {{ model.name }}_model {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_MODEL_SOURCE))
	{%- endif %}
	{%- if constr_type == "BGP" and dims_nphi > 0 %}
	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_SOURCE))
	{%- endif %}
	{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_E_SOURCE))
	{%- endif %}
	{%- if constr_type == "BGH" and dims_nh > 0 %}
	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_SOURCE))
	{%- endif %}
	{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
	( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_E_SOURCE))
	{%- endif %}
	{%- if cost_type == "NONLINEAR_LS" %}
	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_SOURCE))
	{%- endif %}
	{%- if cost_type_e == "NONLINEAR_LS" %}
	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_E_SOURCE))
	{%- endif %}
	{%- if cost_type_0 == "NONLINEAR_LS" %}
	( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_0_SOURCE))
	{%- endif %}

main:
	gcc $(ACADOS_FLAGS) -c main_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
	-I $(INCLUDE_PATH)/qpOASES_e/
	{%- endif %}

main_sim:
	gcc $(ACADOS_FLAGS) -c main_sim_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/

ocp_solver:
	gcc $(ACADOS_FLAGS) -c acados_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
	-I $(INCLUDE_PATH)/qpOASES_e/
	{%- endif %}

sim_solver:
	gcc $(ACADOS_FLAGS) -c acados_sim_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
	-I $(INCLUDE_PATH)/qpOASES_e/
	{%- endif %}

example: ocp_solver main
	gcc $(ACADOS_FLAGS) -o main_{{ model.name }} $(EX_OBJ) $(OBJ) -L $(LIB_PATH) \
	-lacados -lhpipm -lblasfeo \
	{{ link_libs }} \
	-lm \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) \
	-I $(INCLUDE_PATH)/acados/ \
	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
	-I $(INCLUDE_PATH)/qpOASES_e/
	{%- endif %}


example_sim: sim_solver main_sim
	gcc $(ACADOS_FLAGS) -o main_sim_{{ model.name }} $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) -L $(LIB_PATH) \
	-lacados -lhpipm -lblasfeo \
	{{ link_libs }} \
	-lm \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/acados/ \

{%- if solver_options.integrator_type != "DISCRETE" %}

bundled_shared_lib: casadi_fun ocp_solver sim_solver
	gcc $(ACADOS_FLAGS) -shared -o libacados_solver_{{ model.name }}.so $(OBJ) \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) \
	-L $(LIB_PATH) \
	-lacados -lhpipm -lblasfeo \
	{{ link_libs }} \
	-lm \

ocp_shared_lib: casadi_fun ocp_solver
	gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) \
	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
	{{ link_libs }} \
	-lm \
	
{%- else %}

ocp_shared_lib: casadi_fun ocp_solver
	gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
	-I $(INCLUDE_PATH)/blasfeo/include/ \
	-I $(INCLUDE_PATH)/hpipm/include/ \
	-I $(INCLUDE_PATH) \
	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
	{{ link_libs }} \
	-lm \
	
{%- endif %}

sim_shared_lib: casadi_fun sim_solver
	gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
	-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
	{{ link_libs }} \
	-lm \

{%- if os and os == "pc" %}

clean:
	del \Q *.o 2>nul
	del \Q *.so 2>nul
	del \Q main_{{ model.name }} 2>nul

clean_ocp_shared_lib:
	del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
	del \Q acados_solver_{{ model.name }}.o 2>nul

{%- else %}

clean:
	rm -f *.o
	rm -f *.so
	rm -f main_{{ model.name }}

clean_ocp_shared_lib:
	rm -f libacados_ocp_solver_{{ model.name }}.so
	rm -f acados_solver_{{ model.name }}.o

{%- endif %}
